Werkend aansturingsscript voor 2 motoren, incl werkende program switch. Motoren oscilleren nog iets. Vuur mechanisme ontbreekt nog.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of frdm_Motor_V2_3 by
main.cpp@28:2eb768b9cb3b, 2015-10-19 (annotated)
- Committer:
- Rvs94
- Date:
- Mon Oct 19 09:22:05 2015 +0000
- Revision:
- 28:2eb768b9cb3b
- Parent:
- 26:58c3d24b29d2
- Child:
- 29:0f1c25496bdc
EMG signalen toegevoegd aan motor script. EMG werkt nog niet, proberen char c eruit te halen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Rvs94 | 25:ae908de29943 | 1 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 2 | // Motorscript voor 2 motoren voor de "SJOEL ROBOT", Groep 7 |
Rvs94 | 25:ae908de29943 | 3 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 4 | // Libraries |
Rvs94 | 25:ae908de29943 | 5 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 6 | #include "mbed.h" |
Margreeth95 | 0:284ed397e046 | 7 | #include "MODSERIAL.h" |
Margreeth95 | 0:284ed397e046 | 8 | #include "HIDScope.h" |
Margreeth95 | 0:284ed397e046 | 9 | #include "QEI.h" |
Rvs94 | 12:69ab81cf5b7d | 10 | #include "biquadFilter.h" |
Rvs94 | 25:ae908de29943 | 11 | |
Rvs94 | 25:ae908de29943 | 12 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 13 | // Constanten/Inputs/Outputs |
Rvs94 | 25:ae908de29943 | 14 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 28:2eb768b9cb3b | 15 | MODSERIAL pc(USBTX, USBRX); // To/From PC |
Rvs94 | 28:2eb768b9cb3b | 16 | QEI Encoder2(D3, D2, NC, 32); // Encoder Motor 2 |
Rvs94 | 28:2eb768b9cb3b | 17 | QEI Encoder1(D13,D12,NC, 32); // Encoder Motor 1 |
Rvs94 | 28:2eb768b9cb3b | 18 | HIDScope scope(4); // Scope, 4 channels |
Rvs94 | 28:2eb768b9cb3b | 19 | AnalogIn EMG_left(A0); // EMG Analog input LEFT |
Rvs94 | 28:2eb768b9cb3b | 20 | AnalogIn EMG_right(A1); // EMG Analog input RIGHT |
Rvs94 | 28:2eb768b9cb3b | 21 | |
Rvs94 | 20:f5091e29cd26 | 22 | |
Rvs94 | 25:ae908de29943 | 23 | // LEDs |
Rvs94 | 25:ae908de29943 | 24 | DigitalOut LedR(LED_RED); |
Rvs94 | 25:ae908de29943 | 25 | DigitalOut LedG(LED_GREEN); |
Rvs94 | 25:ae908de29943 | 26 | DigitalOut LedB(LED_BLUE); |
Rvs94 | 20:f5091e29cd26 | 27 | |
Rvs94 | 25:ae908de29943 | 28 | // Motor |
Rvs94 | 28:2eb768b9cb3b | 29 | DigitalOut motor1direction(D7); // Motor 1, Direction & Speed |
Rvs94 | 28:2eb768b9cb3b | 30 | PwmOut motor1speed(D6); |
Rvs94 | 28:2eb768b9cb3b | 31 | DigitalOut motor2direction(D4); // Motor 2, Direction & Speed |
Rvs94 | 28:2eb768b9cb3b | 32 | PwmOut motor2speed(D5); |
Rvs94 | 7:67b50d4fb03c | 33 | |
Rvs94 | 25:ae908de29943 | 34 | // Tickers |
Rvs94 | 25:ae908de29943 | 35 | Ticker ScopeTime; |
Rvs94 | 25:ae908de29943 | 36 | Ticker myControllerTicker2; |
Rvs94 | 25:ae908de29943 | 37 | Ticker myControllerTicker1; |
Rvs94 | 28:2eb768b9cb3b | 38 | // EMG Tickers |
Rvs94 | 28:2eb768b9cb3b | 39 | Ticker SampleEMGLeft; |
Rvs94 | 28:2eb768b9cb3b | 40 | Ticker SampleEMGRight; |
Rvs94 | 28:2eb768b9cb3b | 41 | Ticker ScopeTimer; |
Rvs94 | 28:2eb768b9cb3b | 42 | Ticker serial; |
Rvs94 | 28:2eb768b9cb3b | 43 | Ticker MovingAverageLeft; |
Rvs94 | 28:2eb768b9cb3b | 44 | Ticker MovingAverageRight; |
Rvs94 | 25:ae908de29943 | 45 | |
Rvs94 | 25:ae908de29943 | 46 | // Constants |
Rvs94 | 25:ae908de29943 | 47 | double reference2, reference1; |
Rvs94 | 25:ae908de29943 | 48 | double position2 = 0, position1 = 0; |
Rvs94 | 25:ae908de29943 | 49 | double m2_ref = 0, m1_ref = 0; |
Rvs94 | 25:ae908de29943 | 50 | int count = 0; |
Rvs94 | 25:ae908de29943 | 51 | double Grens2 = 90, Grens1 = 90; |
Rvs94 | 25:ae908de29943 | 52 | double Stapgrootte = 5; |
Rvs94 | 2:099da0fc31b6 | 53 | |
Rvs94 | 25:ae908de29943 | 54 | //Sample time (motor-step) |
Rvs94 | 25:ae908de29943 | 55 | const double m2_Ts = 0.01, m1_Ts = 0.01; |
Rvs94 | 20:f5091e29cd26 | 56 | |
Rvs94 | 25:ae908de29943 | 57 | //Controller gain Motor 2 & 1 |
Rvs94 | 28:2eb768b9cb3b | 58 | const double m2_Kp = 0.5, m2_Ki = 0.005, m2_Kd = 0.5; |
Rvs94 | 28:2eb768b9cb3b | 59 | const double m1_Kp = 0.5,m1_Ki = 0.005, m1_Kd = 0.5; |
Rvs94 | 25:ae908de29943 | 60 | double m2_err_int = 0, m2_prev_err = 0; |
Rvs94 | 25:ae908de29943 | 61 | double m1_err_int = 0, m1_prev_err = 0; |
Rvs94 | 20:f5091e29cd26 | 62 | |
Rvs94 | 28:2eb768b9cb3b | 63 | // Declaring variables EMG |
Rvs94 | 28:2eb768b9cb3b | 64 | double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0; |
Rvs94 | 28:2eb768b9cb3b | 65 | double EMG_L_fh=0; |
Rvs94 | 28:2eb768b9cb3b | 66 | double EMG_left_value; |
Rvs94 | 28:2eb768b9cb3b | 67 | double EMG_left_f1; |
Rvs94 | 28:2eb768b9cb3b | 68 | double EMG_left_f2; |
Rvs94 | 28:2eb768b9cb3b | 69 | double EMG_left_f3; |
Rvs94 | 28:2eb768b9cb3b | 70 | double EMG_left_abs; |
Rvs94 | 20:f5091e29cd26 | 71 | |
Rvs94 | 28:2eb768b9cb3b | 72 | double EMG_right_value; |
Rvs94 | 28:2eb768b9cb3b | 73 | double EMG_right_f1; |
Rvs94 | 28:2eb768b9cb3b | 74 | double EMG_right_f2; |
Rvs94 | 28:2eb768b9cb3b | 75 | double EMG_right_f3; |
Rvs94 | 28:2eb768b9cb3b | 76 | double EMG_right_abs; |
Rvs94 | 28:2eb768b9cb3b | 77 | double Threshold1; |
Rvs94 | 28:2eb768b9cb3b | 78 | double Threshold2; |
Rvs94 | 28:2eb768b9cb3b | 79 | double Threshold3; |
Rvs94 | 28:2eb768b9cb3b | 80 | double Threshold4; |
Rvs94 | 28:2eb768b9cb3b | 81 | |
Rvs94 | 28:2eb768b9cb3b | 82 | int N = 50; |
Rvs94 | 28:2eb768b9cb3b | 83 | double MAF_left[50]; |
Rvs94 | 28:2eb768b9cb3b | 84 | double EMG_left_MAF; |
Rvs94 | 28:2eb768b9cb3b | 85 | double MAF_right[50]; |
Rvs94 | 28:2eb768b9cb3b | 86 | double EMG_right_MAF; |
Rvs94 | 28:2eb768b9cb3b | 87 | |
Rvs94 | 28:2eb768b9cb3b | 88 | // Filtercoëfficiënten EMG |
Rvs94 | 28:2eb768b9cb3b | 89 | const double BiGainEMG_H1 = 0.796821; |
Rvs94 | 28:2eb768b9cb3b | 90 | const double EMGH1_a1 = -1.47500228332, EMGH1_a2 = 0.55273994299, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99922446977*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter |
Rvs94 | 28:2eb768b9cb3b | 91 | |
Rvs94 | 28:2eb768b9cb3b | 92 | const double BiGainEMG_L1= 0.001041; |
Rvs94 | 28:2eb768b9cb3b | 93 | const double EMGL1_a1 = -1.87506717001, EMGL1_a2 = 0.87923101463, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = 2.00000000000*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter |
Rvs94 | 28:2eb768b9cb3b | 94 | |
Rvs94 | 28:2eb768b9cb3b | 95 | const double BiGainEMG_N1 = 1.0; |
Rvs94 | 28:2eb768b9cb3b | 96 | const double EMGN1_a1 = -1.58174308681, EMGN1_a2 = 0.96540248979, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61816176147*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for notch filter |
Rvs94 | 20:f5091e29cd26 | 97 | |
Rvs94 | 25:ae908de29943 | 98 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 99 | // General Functions |
Rvs94 | 25:ae908de29943 | 100 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 20:f5091e29cd26 | 101 | |
Rvs94 | 20:f5091e29cd26 | 102 | //HIDScope |
Rvs94 | 25:ae908de29943 | 103 | void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt |
Rvs94 | 25:ae908de29943 | 104 | { |
Rvs94 | 25:ae908de29943 | 105 | scope.set(0, reference2 - position2); |
Rvs94 | 25:ae908de29943 | 106 | scope.set(1, position2); |
Rvs94 | 28:2eb768b9cb3b | 107 | scope.set(2, EMG_left_MAF); |
Rvs94 | 28:2eb768b9cb3b | 108 | scope.set(3, EMG_left); |
Rvs94 | 25:ae908de29943 | 109 | scope.send(); |
Rvs94 | 1:48aba8d5610a | 110 | |
Rvs94 | 25:ae908de29943 | 111 | } |
Rvs94 | 12:69ab81cf5b7d | 112 | |
Rvs94 | 12:69ab81cf5b7d | 113 | // Reusable PID controller |
Rvs94 | 28:2eb768b9cb3b | 114 | double PID( double e, const double Kp, const double Ki, const double Kd, double Ts, double &e_int, double &e_prev) |
Rvs94 | 25:ae908de29943 | 115 | { |
Rvs94 | 12:69ab81cf5b7d | 116 | // Derivative |
Rvs94 | 25:ae908de29943 | 117 | double e_der = (e-e_prev)/Ts; |
Rvs94 | 25:ae908de29943 | 118 | e_prev = e; |
Rvs94 | 12:69ab81cf5b7d | 119 | // Integral |
Rvs94 | 25:ae908de29943 | 120 | e_int = e_int + Ts*e; |
Rvs94 | 12:69ab81cf5b7d | 121 | // PID |
Rvs94 | 25:ae908de29943 | 122 | return Kp * e + Ki*e_int + Kd*e_der; |
Rvs94 | 25:ae908de29943 | 123 | } |
Rvs94 | 25:ae908de29943 | 124 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 28:2eb768b9cb3b | 125 | // EMG filtering function |
Rvs94 | 28:2eb768b9cb3b | 126 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 28:2eb768b9cb3b | 127 | |
Rvs94 | 28:2eb768b9cb3b | 128 | // Filter creation |
Rvs94 | 28:2eb768b9cb3b | 129 | biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter |
Rvs94 | 28:2eb768b9cb3b | 130 | biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter |
Rvs94 | 28:2eb768b9cb3b | 131 | biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter |
Rvs94 | 28:2eb768b9cb3b | 132 | |
Rvs94 | 28:2eb768b9cb3b | 133 | biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2); // creates the high pass filter |
Rvs94 | 28:2eb768b9cb3b | 134 | biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2); // creates the low pass filter |
Rvs94 | 28:2eb768b9cb3b | 135 | biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2); // creates the notch filter |
Rvs94 | 28:2eb768b9cb3b | 136 | |
Rvs94 | 28:2eb768b9cb3b | 137 | void EMGfilterLeft() |
Rvs94 | 28:2eb768b9cb3b | 138 | { |
Rvs94 | 28:2eb768b9cb3b | 139 | EMG_left_value = EMG_left.read(); |
Rvs94 | 28:2eb768b9cb3b | 140 | EMG_left_f1 = EMG_highpass1.step(EMG_left_value); |
Rvs94 | 28:2eb768b9cb3b | 141 | EMG_left_abs = fabs(EMG_left_f1); |
Rvs94 | 28:2eb768b9cb3b | 142 | EMG_left_f2 = EMG_lowpass1.step(EMG_left_abs); |
Rvs94 | 28:2eb768b9cb3b | 143 | EMG_left_f3 = EMG_notch1.step(EMG_left_f2); |
Rvs94 | 28:2eb768b9cb3b | 144 | |
Rvs94 | 28:2eb768b9cb3b | 145 | } |
Rvs94 | 28:2eb768b9cb3b | 146 | |
Rvs94 | 28:2eb768b9cb3b | 147 | void EMGfilterRight() |
Rvs94 | 28:2eb768b9cb3b | 148 | { |
Rvs94 | 28:2eb768b9cb3b | 149 | EMG_right_value = EMG_right.read(); |
Rvs94 | 28:2eb768b9cb3b | 150 | EMG_right_f1 = EMG_highpass1R.step(EMG_right_value); |
Rvs94 | 28:2eb768b9cb3b | 151 | EMG_right_abs = fabs(EMG_right_f1); |
Rvs94 | 28:2eb768b9cb3b | 152 | EMG_right_f2 = EMG_lowpass1R.step(EMG_right_abs); |
Rvs94 | 28:2eb768b9cb3b | 153 | EMG_right_f3 = EMG_notch1R.step(EMG_right_f2); |
Rvs94 | 28:2eb768b9cb3b | 154 | } |
Rvs94 | 28:2eb768b9cb3b | 155 | |
Rvs94 | 28:2eb768b9cb3b | 156 | // Movingaverage Filter |
Rvs94 | 28:2eb768b9cb3b | 157 | void MovingAverageFilterLeft() |
Rvs94 | 28:2eb768b9cb3b | 158 | { |
Rvs94 | 28:2eb768b9cb3b | 159 | EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N; |
Rvs94 | 28:2eb768b9cb3b | 160 | MAF_left[49] = MAF_left[48], MAF_left[48] = MAF_left[47], MAF_left[47] = MAF_left[46], MAF_left[46] = MAF_left[45], MAF_left[45] = MAF_left[44], MAF_left[44] = MAF_left[43], MAF_left[43] = MAF_left[42], MAF_left[42] = MAF_left[41], MAF_left[41] = MAF_left[40], MAF_left[40] = MAF_left[39], MAF_left[39] = MAF_left[38], MAF_left[38] = MAF_left[37], MAF_left[37] = MAF_left[36], MAF_left[36] = MAF_left[35], MAF_left[35] = MAF_left[34], MAF_left[34] = MAF_left[33], MAF_left[33] = MAF_left[32], MAF_left[32] = MAF_left[31], MAF_left[31] = MAF_left[30], MAF_left[30] = MAF_left[29], MAF_left[29] = MAF_left[28], MAF_left[28] = MAF_left[27], MAF_left[27] = MAF_left[26], MAF_left[26] = MAF_left[25]; |
Rvs94 | 28:2eb768b9cb3b | 161 | MAF_left[25] = MAF_left[24], MAF_left[24] = MAF_left[23], MAF_left[23] = MAF_left[22], MAF_left[22] = MAF_left[21], MAF_left[21] = MAF_left[20], MAF_left[20] = MAF_left[19], MAF_left[19] = MAF_left[18], MAF_left[18] = MAF_left[17], MAF_left[17] = MAF_left[16], MAF_left[16] = MAF_left[15], MAF_left[15] = MAF_left[14], MAF_left[14] = MAF_left[13], MAF_left[13] = MAF_left[12], MAF_left[12] = MAF_left[11], MAF_left[11] = MAF_left[10], MAF_left[10] = MAF_left[9], MAF_left[9] = MAF_left[8], MAF_left[8] = MAF_left[7], MAF_left[7] = MAF_left[6], MAF_left[6] = MAF_left[5], MAF_left[5] = MAF_left[4], MAF_left[4] = MAF_left[3], MAF_left[3] = MAF_left[2], MAF_left[2] = MAF_left[1], MAF_left[1] = MAF_left[0]; |
Rvs94 | 28:2eb768b9cb3b | 162 | MAF_left[0] = EMG_left_f3; |
Rvs94 | 28:2eb768b9cb3b | 163 | } |
Rvs94 | 28:2eb768b9cb3b | 164 | |
Rvs94 | 28:2eb768b9cb3b | 165 | void MovingAverageFilterRight() |
Rvs94 | 28:2eb768b9cb3b | 166 | { |
Rvs94 | 28:2eb768b9cb3b | 167 | EMG_right_MAF = (MAF_right[0]+MAF_right[1]+MAF_right[2]+MAF_right[3]+MAF_right[4]+MAF_right[5]+MAF_right[6]+MAF_right[7]+MAF_right[8]+MAF_right[9]+MAF_right[10]+MAF_right[11]+MAF_right[12]+MAF_right[13]+MAF_right[14]+MAF_right[15]+MAF_right[16]+MAF_right[17]+MAF_right[18]+MAF_right[19]+MAF_right[20]+MAF_right[21]+MAF_right[22]+MAF_right[23]+MAF_right[24]+MAF_right[25]+MAF_right[26]+MAF_right[27]+MAF_right[28]+MAF_right[29]+MAF_right[30]+MAF_right[31]+MAF_right[32]+MAF_right[33]+MAF_right[34]+MAF_right[35]+MAF_right[36]+MAF_right[37]+MAF_right[38]+MAF_right[39]+MAF_right[40]+MAF_right[41]+MAF_right[42]+MAF_right[43]+MAF_right[44]+MAF_right[45]+MAF_right[46]+MAF_right[47]+MAF_right[48]+MAF_right[49])/N; |
Rvs94 | 28:2eb768b9cb3b | 168 | MAF_right[49] = MAF_right[48], MAF_right[48] = MAF_right[47], MAF_right[47] = MAF_right[46], MAF_right[46] = MAF_right[45], MAF_right[45] = MAF_right[44], MAF_right[44] = MAF_right[43], MAF_right[43] = MAF_right[42], MAF_right[42] = MAF_right[41], MAF_right[41] = MAF_right[40], MAF_right[40] = MAF_right[39], MAF_right[39] = MAF_right[38], MAF_right[38] = MAF_right[37], MAF_right[37] = MAF_right[36], MAF_right[36] = MAF_right[35], MAF_right[35] = MAF_right[34], MAF_right[34] = MAF_right[33], MAF_right[33] = MAF_right[32], MAF_right[32] = MAF_right[31], MAF_right[31] = MAF_right[30], MAF_right[30] = MAF_right[29], MAF_right[29] = MAF_right[28], MAF_right[28] = MAF_right[27], MAF_right[27] = MAF_right[26], MAF_right[26] = MAF_right[25]; |
Rvs94 | 28:2eb768b9cb3b | 169 | MAF_right[25] = MAF_right[24], MAF_right[24] = MAF_right[23], MAF_right[23] = MAF_right[22], MAF_right[22] = MAF_right[21], MAF_right[21] = MAF_right[20], MAF_right[20] = MAF_right[19], MAF_right[19] = MAF_right[18], MAF_right[18] = MAF_right[17], MAF_right[17] = MAF_right[16], MAF_right[16] = MAF_right[15], MAF_right[15] = MAF_right[14], MAF_right[14] = MAF_right[13], MAF_right[13] = MAF_right[12], MAF_right[12] = MAF_right[11], MAF_right[11] = MAF_right[10], MAF_right[10] = MAF_right[9], MAF_right[9] = MAF_right[8], MAF_right[8] = MAF_right[7], MAF_right[7] = MAF_right[6], MAF_right[6] = MAF_right[5], MAF_right[5] = MAF_right[4], MAF_right[4] = MAF_right[3], MAF_right[3] = MAF_right[2], MAF_right[2] = MAF_right[1], MAF_right[1] = MAF_right[0]; |
Rvs94 | 28:2eb768b9cb3b | 170 | MAF_right[0] = EMG_right_f3; |
Rvs94 | 28:2eb768b9cb3b | 171 | } |
Rvs94 | 28:2eb768b9cb3b | 172 | |
Rvs94 | 28:2eb768b9cb3b | 173 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 174 | // Motor control functions |
Rvs94 | 25:ae908de29943 | 175 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 176 | |
Margreeth95 | 18:6f71bb91b8bd | 177 | // Motor2 control |
Rvs94 | 25:ae908de29943 | 178 | void motor2_Controller() |
Rvs94 | 9:774fc3c6a39e | 179 | { |
Rvs94 | 25:ae908de29943 | 180 | // Setpoint motor 2 |
Rvs94 | 25:ae908de29943 | 181 | reference2 = m2_ref; // Reference in degrees |
Rvs94 | 25:ae908de29943 | 182 | position2 = Encoder2.getPulses()*360/(32*131); // Position in degrees |
Rvs94 | 25:ae908de29943 | 183 | // Speed control |
Rvs94 | 28:2eb768b9cb3b | 184 | double m2_P1 = PID( reference2 - position2, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err); |
Rvs94 | 28:2eb768b9cb3b | 185 | double m2_P2 = m2_P1; |
Rvs94 | 25:ae908de29943 | 186 | motor2speed = abs(m2_P2); |
Rvs94 | 25:ae908de29943 | 187 | // Direction control |
Rvs94 | 25:ae908de29943 | 188 | if(m2_P2 > 0) |
Rvs94 | 25:ae908de29943 | 189 | { |
Rvs94 | 25:ae908de29943 | 190 | motor2direction = 0; |
Rvs94 | 25:ae908de29943 | 191 | } |
Rvs94 | 25:ae908de29943 | 192 | else |
Rvs94 | 25:ae908de29943 | 193 | { |
Rvs94 | 25:ae908de29943 | 194 | motor2direction = 1; |
Rvs94 | 25:ae908de29943 | 195 | } |
Rvs94 | 25:ae908de29943 | 196 | } |
Rvs94 | 25:ae908de29943 | 197 | |
Rvs94 | 25:ae908de29943 | 198 | // Motor1 control |
Rvs94 | 25:ae908de29943 | 199 | void motor1_Controller() |
Rvs94 | 25:ae908de29943 | 200 | { |
Rvs94 | 25:ae908de29943 | 201 | // Setpoint Motor 1 |
Rvs94 | 25:ae908de29943 | 202 | reference1 = m1_ref; // Reference in degrees |
Rvs94 | 25:ae908de29943 | 203 | position1 = Encoder1.getPulses()*360/(32*131); // Position in degrees |
Rvs94 | 25:ae908de29943 | 204 | // Speed control |
Rvs94 | 28:2eb768b9cb3b | 205 | double m1_P1 = PID( reference1 - position1, m1_Kp, m1_Ki, m1_Kd, m1_Ts, m1_err_int, m1_prev_err); |
Rvs94 | 28:2eb768b9cb3b | 206 | double m1_P2 = m1_P1; |
Rvs94 | 25:ae908de29943 | 207 | motor1speed = abs(m1_P2); |
Rvs94 | 25:ae908de29943 | 208 | // Direction control |
Rvs94 | 25:ae908de29943 | 209 | if(m1_P2 > 0) |
Rvs94 | 25:ae908de29943 | 210 | { |
Rvs94 | 25:ae908de29943 | 211 | motor1direction = 1; |
Rvs94 | 25:ae908de29943 | 212 | } |
Rvs94 | 25:ae908de29943 | 213 | else |
Rvs94 | 25:ae908de29943 | 214 | { |
Rvs94 | 25:ae908de29943 | 215 | motor1direction = 0; |
Rvs94 | 25:ae908de29943 | 216 | } |
Rvs94 | 9:774fc3c6a39e | 217 | } |
Rvs94 | 3:687729d7996e | 218 | |
Rvs94 | 25:ae908de29943 | 219 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 220 | // Main function |
Rvs94 | 25:ae908de29943 | 221 | //--------------------------------------------------------------------------------------------------------------------------// |
Margreeth95 | 0:284ed397e046 | 222 | int main() |
Rvs94 | 25:ae908de29943 | 223 | { |
Rvs94 | 25:ae908de29943 | 224 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 225 | // Initalizing |
Rvs94 | 25:ae908de29943 | 226 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 227 | //LEDs OFF |
Rvs94 | 25:ae908de29943 | 228 | LedR = LedB = LedG = 1; |
Rvs94 | 9:774fc3c6a39e | 229 | |
Rvs94 | 25:ae908de29943 | 230 | //PC connection & check |
Rvs94 | 25:ae908de29943 | 231 | pc.baud(115200); |
Rvs94 | 25:ae908de29943 | 232 | pc.printf("Tot aan loop werkt\n"); |
Rvs94 | 25:ae908de29943 | 233 | |
Rvs94 | 25:ae908de29943 | 234 | // Tickers |
Rvs94 | 28:2eb768b9cb3b | 235 | ScopeTime.attach(&ScopeSend, 0.01f); // 100 Hz, Scope |
Rvs94 | 28:2eb768b9cb3b | 236 | myControllerTicker2.attach(&motor2_Controller, 0.01f ); // 100 Hz, Motor 2 |
Rvs94 | 28:2eb768b9cb3b | 237 | myControllerTicker1.attach(&motor1_Controller, 0.01f ); // 100 Hz, Motor 1 |
Rvs94 | 28:2eb768b9cb3b | 238 | SampleEMGLeft.attach(&EMGfilterLeft, 0.002); // 500 Hz, EMG LEFT |
Rvs94 | 28:2eb768b9cb3b | 239 | SampleEMGRight.attach(&EMGfilterRight, 0.002); // 500 Hz, EMG RIGHT |
Rvs94 | 28:2eb768b9cb3b | 240 | MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.005); // 200 Hz, MAF LEFT |
Rvs94 | 28:2eb768b9cb3b | 241 | MovingAverageRight.attach(&MovingAverageFilterRight, 0.005);// 200 Hz, MAF RIGHT |
Rvs94 | 28:2eb768b9cb3b | 242 | |
Rvs94 | 28:2eb768b9cb3b | 243 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 28:2eb768b9cb3b | 244 | // Determing Threshold |
Rvs94 | 28:2eb768b9cb3b | 245 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 28:2eb768b9cb3b | 246 | wait(20); |
Rvs94 | 28:2eb768b9cb3b | 247 | |
Rvs94 | 28:2eb768b9cb3b | 248 | LedG.write(1); |
Rvs94 | 28:2eb768b9cb3b | 249 | wait(0.2); |
Rvs94 | 28:2eb768b9cb3b | 250 | LedG.write(0); |
Rvs94 | 28:2eb768b9cb3b | 251 | wait(0.2); |
Rvs94 | 28:2eb768b9cb3b | 252 | LedG.write(1); |
Rvs94 | 28:2eb768b9cb3b | 253 | wait(0.2); |
Rvs94 | 28:2eb768b9cb3b | 254 | LedG.write(0); |
Rvs94 | 28:2eb768b9cb3b | 255 | wait(0.2); |
Rvs94 | 28:2eb768b9cb3b | 256 | LedG.write(1); |
Rvs94 | 28:2eb768b9cb3b | 257 | wait(0.2); |
Rvs94 | 28:2eb768b9cb3b | 258 | LedG.write(0); |
Rvs94 | 28:2eb768b9cb3b | 259 | wait(2); |
Rvs94 | 28:2eb768b9cb3b | 260 | Threshold1 = 0.5*EMG_left_MAF; |
Rvs94 | 28:2eb768b9cb3b | 261 | Threshold2 = 0.2*EMG_left_MAF; |
Rvs94 | 28:2eb768b9cb3b | 262 | LedG.write(1); |
Rvs94 | 28:2eb768b9cb3b | 263 | |
Rvs94 | 28:2eb768b9cb3b | 264 | pc.printf("T1 = %f, T2 = %f\n", Threshold1, Threshold2); |
Rvs94 | 28:2eb768b9cb3b | 265 | LedG.write(1); |
Rvs94 | 25:ae908de29943 | 266 | |
Rvs94 | 25:ae908de29943 | 267 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 25:ae908de29943 | 268 | // Control Program |
Rvs94 | 25:ae908de29943 | 269 | //--------------------------------------------------------------------------------------------------------------------------// |
Rvs94 | 9:774fc3c6a39e | 270 | while(true) |
Rvs94 | 20:f5091e29cd26 | 271 | { |
Rvs94 | 20:f5091e29cd26 | 272 | char c = pc.getc(); |
Rvs94 | 25:ae908de29943 | 273 | // 1 Program UP |
Rvs94 | 25:ae908de29943 | 274 | if(c == 'e') |
Rvs94 | 20:f5091e29cd26 | 275 | { |
Rvs94 | 20:f5091e29cd26 | 276 | count = count + 1; |
Rvs94 | 20:f5091e29cd26 | 277 | if(count > 2) |
Rvs94 | 20:f5091e29cd26 | 278 | { |
Rvs94 | 20:f5091e29cd26 | 279 | count = 2; |
Rvs94 | 20:f5091e29cd26 | 280 | } |
Rvs94 | 20:f5091e29cd26 | 281 | |
Rvs94 | 20:f5091e29cd26 | 282 | } |
Rvs94 | 25:ae908de29943 | 283 | // 1 Program DOWN |
Rvs94 | 25:ae908de29943 | 284 | if(c == 'd') |
Rvs94 | 20:f5091e29cd26 | 285 | { |
Rvs94 | 20:f5091e29cd26 | 286 | count = count - 1; |
Rvs94 | 20:f5091e29cd26 | 287 | if(count < 0) |
Rvs94 | 20:f5091e29cd26 | 288 | { |
Rvs94 | 20:f5091e29cd26 | 289 | count = 0; |
Rvs94 | 20:f5091e29cd26 | 290 | } |
Rvs94 | 25:ae908de29943 | 291 | } |
Rvs94 | 25:ae908de29943 | 292 | // PROGRAM 0: Motor 2 control and indirect control of motor 1, Green LED |
Rvs94 | 25:ae908de29943 | 293 | if(count == 0) |
Rvs94 | 20:f5091e29cd26 | 294 | { |
Rvs94 | 20:f5091e29cd26 | 295 | |
Rvs94 | 20:f5091e29cd26 | 296 | LedR = LedB = 1; |
Rvs94 | 20:f5091e29cd26 | 297 | LedG = 0; |
Rvs94 | 28:2eb768b9cb3b | 298 | if(EMG_left_MAF > Threshold1) |
Margreeth95 | 19:9417d2011e8b | 299 | { |
Rvs94 | 24:d0af4b2be295 | 300 | m2_ref = m2_ref + Stapgrootte; |
Rvs94 | 25:ae908de29943 | 301 | m1_ref = m1_ref - Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 302 | if (m2_ref > Grens2) |
Margreeth95 | 19:9417d2011e8b | 303 | { |
Rvs94 | 24:d0af4b2be295 | 304 | m2_ref = Grens2; |
Rvs94 | 25:ae908de29943 | 305 | m1_ref = -1*Grens1; |
Margreeth95 | 19:9417d2011e8b | 306 | } |
Margreeth95 | 19:9417d2011e8b | 307 | } |
Margreeth95 | 19:9417d2011e8b | 308 | if(c == 'f') |
Margreeth95 | 19:9417d2011e8b | 309 | { |
Rvs94 | 24:d0af4b2be295 | 310 | m2_ref = m2_ref - Stapgrootte; |
Rvs94 | 25:ae908de29943 | 311 | m1_ref = m1_ref + Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 312 | if (m2_ref < -1*Grens2) |
Margreeth95 | 19:9417d2011e8b | 313 | { |
Rvs94 | 24:d0af4b2be295 | 314 | m2_ref = -1*Grens2; |
Rvs94 | 25:ae908de29943 | 315 | m1_ref = Grens1; |
Margreeth95 | 19:9417d2011e8b | 316 | } |
Margreeth95 | 19:9417d2011e8b | 317 | } |
Rvs94 | 20:f5091e29cd26 | 318 | } |
Rvs94 | 25:ae908de29943 | 319 | // PROGRAM 1: Motor 1 control, Red LED |
Rvs94 | 25:ae908de29943 | 320 | if(count == 1) |
Rvs94 | 20:f5091e29cd26 | 321 | { |
Rvs94 | 20:f5091e29cd26 | 322 | LedG = LedB = 1; |
Rvs94 | 20:f5091e29cd26 | 323 | LedR = 0; |
Rvs94 | 24:d0af4b2be295 | 324 | if(c == 't') |
Rvs94 | 24:d0af4b2be295 | 325 | { |
Rvs94 | 24:d0af4b2be295 | 326 | m1_ref = m1_ref + Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 327 | if (m1_ref > Grens1) |
Rvs94 | 24:d0af4b2be295 | 328 | { |
Rvs94 | 24:d0af4b2be295 | 329 | m1_ref = Grens1; |
Rvs94 | 24:d0af4b2be295 | 330 | } |
Rvs94 | 24:d0af4b2be295 | 331 | } |
Rvs94 | 24:d0af4b2be295 | 332 | if(c == 'g') |
Rvs94 | 24:d0af4b2be295 | 333 | { |
Rvs94 | 24:d0af4b2be295 | 334 | m1_ref = m1_ref - Stapgrootte; |
Rvs94 | 24:d0af4b2be295 | 335 | if (m1_ref < -1*Grens1) |
Rvs94 | 24:d0af4b2be295 | 336 | { |
Rvs94 | 24:d0af4b2be295 | 337 | m1_ref = -1*Grens1; |
Rvs94 | 24:d0af4b2be295 | 338 | } |
Rvs94 | 24:d0af4b2be295 | 339 | } |
Rvs94 | 20:f5091e29cd26 | 340 | } |
Rvs94 | 25:ae908de29943 | 341 | // PROGRAM 2: Firing mechanism & Reset, Blue LED |
Rvs94 | 25:ae908de29943 | 342 | if(count == 2) |
Rvs94 | 20:f5091e29cd26 | 343 | { |
Rvs94 | 20:f5091e29cd26 | 344 | |
Rvs94 | 20:f5091e29cd26 | 345 | LedR = LedG = 1; |
Rvs94 | 24:d0af4b2be295 | 346 | LedB = 0; |
Rvs94 | 25:ae908de29943 | 347 | //VUUUUR!! (To Do) |
Rvs94 | 24:d0af4b2be295 | 348 | wait(1); |
Rvs94 | 24:d0af4b2be295 | 349 | m2_ref = 0; |
Rvs94 | 24:d0af4b2be295 | 350 | m1_ref = 0; |
Rvs94 | 20:f5091e29cd26 | 351 | } |
Margreeth95 | 0:284ed397e046 | 352 | } |
Rvs94 | 9:774fc3c6a39e | 353 | |
Margreeth95 | 0:284ed397e046 | 354 | } |